CN105128022B - Intelligent and automatic end replacing device of robot - Google Patents

Intelligent and automatic end replacing device of robot Download PDF

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Publication number
CN105128022B
CN105128022B CN201510574300.5A CN201510574300A CN105128022B CN 105128022 B CN105128022 B CN 105128022B CN 201510574300 A CN201510574300 A CN 201510574300A CN 105128022 B CN105128022 B CN 105128022B
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CN
China
Prior art keywords
male
female
robot
work head
rotating disk
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CN201510574300.5A
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Chinese (zh)
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CN105128022A (en
Inventor
徐海波
王朝晖
要义勇
朱绪绅
荣必贤
赵丹丹
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西安交通大学
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Priority to CN201510574300.5A priority Critical patent/CN105128022B/en
Publication of CN105128022A publication Critical patent/CN105128022A/en
Application granted granted Critical
Publication of CN105128022B publication Critical patent/CN105128022B/en

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Abstract

The invention discloses an intelligent and automatic end replacing device of a robot. The intelligent and automatic end replacing device is composed of an end working head bank and a quick replacing and connecting mechanism. The quick replacing and connecting mechanism is composed of a male head fixedly connected to the end of the robot and a female head fixedly connected to a working head. In the technological process, the working head needing to be used is arranged on clamping jaws of the working head bank, accurate positioning of the female head and the male head is achieved through cooperative actions of the working head bank and the end of the robot, and then quick replacing and connecting are achieved through the male head fixedly connected to the end of the robot and the female head fixedly connected to the working head. By means of the intelligent and automatic end replacing device, an end executer of the robot is automatically replaced and connected, the flexibility and the adaptability of the industrial robot in the production process are improved, and popularization of the industrial robot is facilitated.

Description

A kind of intelligent robot end apparatus for automatic change
[technical field]
The invention belongs to changing-over field of mechanisms, it is related to a kind of automatic transition apparatus of robot end and in particular to a kind of machine Device people intelligence end apparatus for automatic change.
[background technology]
Currently, what industrial robot used is more and more, and scope is also increasingly wider, for example welding, spraying, polishing, assembling Etc. occasion.Under different occasions, robot needs in end equipped with different end effectors to adapt to different work.Special In complicated processing or assembly work, due to complex technical process so that the species of end effector be also Varied, and difference is larger.Traditional automatic production line utilizes the flow work, and the robot of each station is responsible for single Work, whole technical process is completed by one group of robot.But, the robot that such automatic production line needs is relatively Many, work space is larger and cost is very high.Thus, pipeline system operation is for yield is less, the mobile inconvenience of product, assembly space Production process when narrow and small is simultaneously improper, and contrary unit device people work is then more suitable.Unit device people's work process needs More will be changed jobs head, and use manually is changed more at present.In work head Renewal process, on the one hand, more change jobs head Process itself is troublesome;On the other hand, the Tou Hou robot that more changes jobs every time is required for reorientating, and mismachining tolerance becomes big.By This is a variety of, strongly limit popularization and the popularization of industrial robot.
In view of this, had scholar begin one's study robot end automatically quick transition apparatus to realize industrial machine The automatic replacing of people end.The present invention puts, using work head stock, all working head needing in technical process to use, simultaneously profit Realize quick changing-over with the male being connected in robot end and the female being connected on work head.Work head storehouse and robot end The interoperation at end realizes being accurately positioned between female and male.The present invention realizes certainly moving of end effector of robot Connect, improve industrial robot flexibility in process of production and adaptability, contribute to popularization and the popularization of industrial robot.
[content of the invention]
Present invention aim to address the problems referred to above, provide a kind of intelligent robot end apparatus for automatic change, this device It is capable of the automatic changing-over of end effector of robot, improve industrial robot flexibility in process of production and adaptation Property, contribute to popularization and the popularization of industrial robot.
For reaching above-mentioned purpose, the present invention is achieved using below scheme:
A kind of intelligent robot end apparatus for automatic change, including end work head storehouse and quick changing-over mechanism, fast quick change Connection mechanism is made up of the male being connected in robot end and the female being connected on work head;End work head storehouse includes a storehouse Base, and it is arranged on a rotating disk for bottom of the reservior seat, rotating disk is provided with some claws for placing work head;Male and female Match and realize the quick changing-over of work head.
The present invention is further improved by:
Motor and rotating disk are installed on the seat of described head bottom of the reservior, rotating disk is connected with motor by drive system, rotating disk On some claws for placing female are installed;Rotating disk is rotated under the driving of motor, to coordinate robot end The male at end realizes the changing-over of work head.
The circumference of described rotating disk is uniformly distributed at least 3 structure identical claws, needs in technical process for placing Work head.
Adpting flange that described male includes setting gradually from top to bottom, direct driving device, synchronous drive device, motor cover with And male base;Electric interfaces male, thread spindle, gas interface male and alignment pin are provided with male base;
It is female that female includes the gas interface that the location hole that female base matched matched with gas interface male with alignment pin Screwed hole and the electric interfaces female matching with electric interfaces male that head is matched with thread spindle.
Described alignment pin is installed on male base by buffer unit.
Described male is connected with robot end by adpting flange, direct driving device non-rotating part and adpting flange phase Even, rotating part is connected with male base, enables direct driving device to drive male base to rotate.
Described synchronous drive device is fixed on above male base, and the surface that motor cover is fixed on male base will be synchronous Driving means are protected in it, and motor cover is located inside direct driving device;The axle of synchronous drive device passes through male centre hole of base It is connected with thread spindle, the downward distal center of thread spindle is equipped with level detecting apparatus;Synchronous drive device drives thread spindle rotation to realize Connection with the screwed hole of female.
Compared with prior art, the method have the advantages that
The present invention realizes end effector of robot by the cooperating in rotating disc type work head storehouse and quick changing-over mechanism Automatic replacing, the cooperating using work head storehouse and robot achieves that whole production process, overcomes tradition complexity The big shortcoming of automatic production line floor space.According to production requirement, only need to change work head library storage work head species and Quantity, the production of achievable different process product, overcome robot work in conventional production lines single, production product fixation Shortcoming, improves flexibility in process of manufacture for the industrial robot and adaptivity.
[brief description]
Fig. 1 is the perspective view of robot work head storehouse part in the present invention;
Fig. 2 is the intelligent quick changing-over in end part-structure schematic diagram in the present invention;
Fig. 3 is the stereochemical structure exploded view of the quick changing-over of Fig. 2 partly middle male part;
Fig. 4 is the perspective view of the quick changing-over of Fig. 2 partly middle female part.
Wherein: 1 is head bottom of the reservior seat, 2 is drive system, and 3 is motor, and 4 is rotating disk, and 5 is claw, and 6 is adpting flange, 7 is direct driving device, and 8 is synchronous drive device, and 9 is motor cover, and 10 is male base, and 11 is electric interfaces male, and 12 is screw thread Axle, 13 is locating and detecting device, and 14 is gas interface male, and 15 is alignment pin, and 16 is buffer unit, and 17 is female base, and 18 are Location hole, 19 is gas interface female, and 20 is screwed hole, and 21 is electric interfaces female, 22 males, 23 females.
[specific embodiment]
Below in conjunction with the accompanying drawings the present invention is described in further detail:
Referring to Fig. 1-Fig. 4, the present invention is made up of end work head storehouse and quick changing-over mechanism two parts, quick changing-over mechanism It is made up of the male 22 and the female 23 being connected on work head being connected in robot end;Wherein, work head storehouse in end includes: Head bottom of the reservior seat 1, drive system 2, motor 3, rotating disk 4, claw 5;Male head structure includes: adpting flange 6;Direct driving device 7, with Step driving means 8, motor cover 9, male base 10, electric interfaces male 11, thread spindle 12, locating and detecting device 13, gas interface Male 14, alignment pin 15, buffer unit 16;Female structure includes: female base 17, location hole 18, gas interface female 19, screw thread Hole 20, electric interfaces female 21.The circumference of work head storehouse rotating disk is uniform-distribution with integer (> 3) identical claw and is used for placing The work head needing in technical process.The work head needing in technical process is positioned on the claw in work head storehouse, and work head storehouse And robot end's interoperation realizes being accurately positioned between female and male, recycle the male being connected in robot end Realize quick changing-over with the female being connected on work head.Male is connected with robot end by adpting flange, direct driving device Non-rotating part is connected with adpting flange, and rotating part is connected with male base;Realize direct driving device and can drive male base Rotate.Male base is fixedly arranged above a synchronous drive device, and the surface that motor cover is fixed on male base will be with Step driving means are protected in it, and motor cover is located inside direct driving device;Synchronous drive device axle passes through male centre hole of base It is connected with thread spindle, the downward distal center of thread spindle is equipped with a locating and detecting device;Synchronous drive device drives thread spindle rotation Realize the connection with the screwed hole of female.Male floor installation has electric interfaces male, gas interface male, alignment pin, buffering dress Put;Each interface male and corresponding interface female cooperation on female base, the head that works after quick changing-over provides gas and electricity.
The implementing and work process of each several part in narration the present embodiment in detail below.
As shown in Fig. 2 work head snap joint is mainly made up of male and female, wherein male is arranged on robot end End, female is arranged on work head, realizes the replacing of work head, the gentle interface of electric interfaces by the docking of male and female Connect.
As shown in figure 3, the direct driving device 7 in male can drive whole male base 10 to rotate, realize positioning Pin 15 is aligned with the location hole 18 in female, also for needing to rotate the part of adjustment position or work head offer rotary freedom, Head adjustment position etc. that such as head bolts hole aligns, double screw-driving works;Synchronous drive device 8 be used for driving thread spindle 12 with Screwed hole 20 in female connects.
Alignment pin 15 be mechanical positioner, longer than thread spindle 12 external part it is ensured that first touching the positioning in female Hole 18, has precompressed buffer unit 16 above alignment pin 15, plays precompressed and buffering when alignment pin 15 touches in female Effect, reduces the complexity of control.
In thread spindle 12 distal center equipped with locating and detecting device 13, for male with female to the heart;At alignment pin Hall element is had to be used for judging the distance change in pin insertion location hole 18;Torque sensor is installed be used for detecting thread spindle Screw-down torque.
As shown in figure 4, female is mainly by female base 17, location hole 18, gas interface female 19, screwed hole 20, electrically connect Mouth female 21 forms, as shown in Figure 4.Wherein there is location hole 18 to coordinate with alignment pin 15 on female base, have screwed hole 20 and spiral shell Stricture of vagina axle 12 coordinates, and each interface female is coordinated with male.
Snap joint docking operation is: robot under locating and detecting device 13 guiding, first by male and female to the heart, so Afterwards male decline, until alignment pin 15 contact female after decline certain distance again, by buffer unit 16 pressure compaction in female On, the then built-in direct driving device of male 7 rotation male base 10, after alignment pin 15 is aligned with location hole 18, alignment pin is slow Flushing device 16 effect is lower to decline suddenly insertion location hole 18, detects bust distance by hall device, after realizing positioning, male continues Decline;Under synchronous drive device 8 turning effort, thread spindle 12 is coordinated with screwed hole 20, and male also declines adaptation and joins simultaneously The depth of thread closed, until tighten;In rundown process, also declining between electrical connector, the male of gas joint and female Realize rapid abutting joint in journey, realize power supply, information transfer and supply.
Work head storehouse mainly by umbrella shape head storehouse and work head form, wherein umbrella shape head storehouse by head bottom of the reservior seat 1, drive system 2, Motor 3, rotating disk 4 and claw 5 form.Motor drives rotating disk to rotate by drive system, and work head is placed on claw On, claw has detent mechanism, as shown in Figure 1.
The automatic transition in intelligent robot end is: section robot end moves to the side specified location in umbrella shape head storehouse Place, the claw that robot end's work head is located is rotated to by robot by rotating disk, and robot end will along umbrella shape head storehouse radial direction Present work head delivers to center position in claw, and under robot end, general who has surrendered's work head places, and snap joint departs from, machine Device people end rises;Then the work head of needs is rotated to immediately below robot end by rotating disk, and it is right with work that end declines Connect and complete work head changing-over, then along reverse path, the head that works is taken away.
Above content technological thought only to illustrate the invention, it is impossible to limit protection scope of the present invention with this, every is pressed According to technological thought proposed by the present invention, any change done on the basis of technical scheme, each fall within claims of the present invention Protection domain within.

Claims (6)

1. a kind of intelligent robot end apparatus for automatic change it is characterised in that: include end work head storehouse and quick changing-over machine Structure, quick changing-over mechanism is made up of the male (22) being connected in robot end and the female (23) being connected on work head;End End work head storehouse includes a bottom of the reservior seat (1), and is arranged on the rotating disk (4) of a bottom of the reservior seat (1), rotating disk (4) is provided with some For placing the claw (5) of work head;Male (22) is matched with female (23) and realizes the quick changing-over of work head;
Adpting flange (6) that the inclusion of described male (22) sets gradually from top to bottom, direct driving device (7), synchronous drive device (8), motor cover (9) and male base (10);Electric interfaces male (11), thread spindle are provided with male base (10) (12), gas interface male (14) and alignment pin (15);
Female is included the location hole (18) that female base (17) matched with alignment pin (15) and is matched with gas interface male (14) The screwed hole (20) that matches with thread spindle (12) of gas interface female (19) that closes and matching with electric interfaces male (11) Electric interfaces female (21).
2. intelligent robot end apparatus for automatic change according to claim 1 it is characterised in that: described head bottom of the reservior seat (1) upper installation motor (3) and rotating disk (4), rotating disk (4) is connected with motor (3) by drive system (2), rotating disk (4) On some claws (5) for placing female are installed;Rotating disk (4) is rotated under the driving of motor (3), to coordinate The male (22) of robot end realizes the changing-over of work head.
3. intelligent robot end apparatus for automatic change according to claim 1 and 2 it is characterised in that: described rotating disk (4) Circumference be uniformly distributed at least 3 structure identical claws, for placing the work head needing in technical process.
4. intelligent robot end apparatus for automatic change according to claim 1 it is characterised in that: described alignment pin (15) It is installed on male base (10) by buffer unit (16).
5. the intelligent robot end apparatus for automatic change according to claim 1 or 4 it is characterised in that: described male (22) it is connected with robot end by adpting flange (6), direct driving device (7) non-rotating part is connected with adpting flange (6), rotation Transfer part is divided and is connected with male base (10), makes direct driving device (7) that male base (10) can be driven to rotate.
6. the intelligent robot end apparatus for automatic change according to claim 1 or 4 it is characterised in that: described synchronous drive Dynamic device (8) is fixed on above male base (10), and motor cover (9) is fixed on the surface of male base (10) by synchronous driving Device (8) is protected in it, and it is internal that motor cover (9) is located at direct driving device (7);The axle of synchronous drive device (8) passes through male bottom Seat (10) centre bore is connected with thread spindle (12), and the downward distal center of thread spindle (12) is equipped with level detecting apparatus (13);Synchronous drive Dynamic device (8) drives thread spindle (12) rotation to realize the connection with the screwed hole (20) of female.
CN201510574300.5A 2015-09-10 2015-09-10 Intelligent and automatic end replacing device of robot CN105128022B (en)

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Application Number Priority Date Filing Date Title
CN201510574300.5A CN105128022B (en) 2015-09-10 2015-09-10 Intelligent and automatic end replacing device of robot

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Application Number Priority Date Filing Date Title
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CN105128022B true CN105128022B (en) 2017-01-18

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CN105459094A (en) * 2016-01-18 2016-04-06 杨福辉 Multifunctional intelligent mechanical hand
JP6325592B2 (en) 2016-03-30 2018-05-16 ファナック株式会社 Robot system
CN106546173B (en) * 2016-11-01 2020-04-17 宁波舜宇智能科技有限公司 Device for detecting components and detection method thereof
CN106737797A (en) * 2017-03-23 2017-05-31 马鞍山工蜂智能科技有限公司 A kind of robot fixture of automatically replaceable fixture
CN107571235B (en) * 2017-09-04 2020-12-29 广东电网有限责任公司清远供电局 Six cubical switchboard operation robot
CN107498576A (en) * 2017-09-19 2017-12-22 柳州欧卡机器人有限公司 A kind of industrial robot tail house for being conveniently replaceable instrument
CN109227581A (en) * 2018-09-28 2019-01-18 广州索博自动化装备有限公司 Unpowered ATC protective cover
CN110682296B (en) * 2019-09-02 2021-03-02 北京航空航天大学 Tool changing warehouse for emergency disposal operation of explosive-handling robot and working method thereof
CN110640704B (en) * 2019-09-09 2021-03-26 亿嘉和科技股份有限公司 Automatic tool library
CN110978003A (en) * 2019-12-09 2020-04-10 国网智能科技股份有限公司 System and method for automatically replacing working tool of live working robot

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CN202877991U (en) * 2012-11-14 2013-04-17 邝锦富 Numerical control machine tool with improved umbrella-type magazine tool structure

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Termination date: 20190910